mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-19 02:23:58 +08:00
Merge remote-tracking branch 'upstream/master' into ros
Conflicts: src/platforms/px4_middleware.h
This commit is contained in:
Thomas Gubler
+2
-2
@@ -16,7 +16,7 @@ git checkout -b mydescriptivebranchname
|
||||
|
||||
### Edit and build the code
|
||||
|
||||
The [developer guide](http://pixhawk.org/dev/start) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](http://pixhawk.org/dev/code_style) when editing files.
|
||||
The [developer guide](http://px4.io/dev/start) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](http://px4.io/dev/code_style) when editing files.
|
||||
|
||||
### Commit your changes
|
||||
|
||||
@@ -41,4 +41,4 @@ Since we care about safety, we will regularly ask you for test results. Best is
|
||||
|
||||
Push changes to your repo and send a [pull request](https://github.com/PX4/Firmware/compare/).
|
||||
|
||||
Make sure to provide some testing feedback and if possible the link to a flight log file.
|
||||
Make sure to provide some testing feedback and if possible the link to a flight log file. Upload flight log files to [Log Muncher](http://dash.oznet.ch) and link the resulting report.
|
||||
|
||||
@@ -6,7 +6,7 @@
|
||||
|
||||
* Official Website: http://px4.io
|
||||
* License: BSD 3-clause (see LICENSE.md)
|
||||
* Supported airframes:
|
||||
* Supported airframes (more experimental are supported):
|
||||
* [Multicopters](http://px4.io/platforms/multicopters/start)
|
||||
* [Fixed wing](http://px4.io/platforms/planes/start)
|
||||
* [VTOL](http://px4.io/platforms/vtol/start)
|
||||
@@ -16,7 +16,7 @@
|
||||
|
||||
### Users ###
|
||||
|
||||
Please refer to the [user documentation](https://pixhawk.org/users/start) for flying drones with PX4.
|
||||
Please refer to the [user documentation](https://pixhawk.org/users/start) for flying drones with the PX4 flight stack.
|
||||
|
||||
### Developers ###
|
||||
|
||||
@@ -26,9 +26,12 @@ http://px4.io/dev/contributing
|
||||
Developer guide:
|
||||
http://px4.io/dev/
|
||||
|
||||
Testing guide:
|
||||
http://px4.io/dev/unit_tests
|
||||
|
||||
This repository contains code supporting these boards:
|
||||
* PX4FMUv1.x
|
||||
* PX4FMUv2.x
|
||||
* FMUv1.x
|
||||
* FMUv2.x
|
||||
* AeroCore (v1 and v2)
|
||||
|
||||
## NuttShell (NSH) ##
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
#
|
||||
# Team Blacksheep Discovery Long Range Quadcopter
|
||||
#
|
||||
# Setup: 15 x 6.5" Props, 6S 4000mAh TBS LiPo, TBS 30A ESCs, TBS 400kV Motors
|
||||
# Setup: 15 x 5" Props, 6S 4000mAh TBS LiPo, TBS 30A ESCs, TBS 400kV Motors
|
||||
#
|
||||
# Simon Wilks <simon@px4.io>
|
||||
#
|
||||
@@ -11,21 +11,27 @@ sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
if [ $AUTOCNF == yes ]
|
||||
then
|
||||
param set BAT_N_CELLS 6
|
||||
param set BAT_V_EMPTY 3.5
|
||||
|
||||
param set MC_ROLL_P 7.0
|
||||
param set MC_ROLLRATE_P 0.07
|
||||
param set MC_ROLLRATE_P 0.08
|
||||
param set MC_ROLLRATE_I 0.02
|
||||
param set MC_ROLLRATE_D 0.003
|
||||
param set MC_PITCH_P 7.0
|
||||
param set MC_PITCHRATE_P 0.1
|
||||
param set MC_PITCHRATE_I 0.05
|
||||
param set MC_PITCHRATE_D 0.003
|
||||
param set MC_PITCHRATE_P 0.13
|
||||
param set MC_PITCHRATE_I 0.02
|
||||
param set MC_PITCHRATE_D 0.005
|
||||
param set MC_YAW_P 2.8
|
||||
param set MC_YAWRATE_P 0.4
|
||||
param set MC_YAWRATE_P 0.2
|
||||
param set MC_YAWRATE_I 0.1
|
||||
param set MC_YAWRATE_D 0.0
|
||||
|
||||
param set MPC_XY_FF 0.2
|
||||
param set MPC_XY_VEL_MAX 2
|
||||
fi
|
||||
|
||||
set MIXER quad_w
|
||||
|
||||
set PWM_OUTPUTS 1234
|
||||
set PWM_MIN 1200
|
||||
set PWM_OUT 1234
|
||||
set PWM_MIN 1080
|
||||
|
||||
@@ -1,4 +1,3 @@
|
||||
#!nsh
|
||||
#
|
||||
# Generic configuration file for caipirinha VTOL version
|
||||
#
|
||||
|
||||
@@ -252,9 +252,17 @@ fi
|
||||
# 13000 is historically reserved for the quadshot
|
||||
|
||||
#
|
||||
# VTOL caipririnha
|
||||
# VTOL Caipririnha (Tailsitter)
|
||||
#
|
||||
if param compare SYS_AUTOSTART 13001
|
||||
then
|
||||
sh /etc/init.d/13001_caipirinha_vtol
|
||||
fi
|
||||
if param compare SYS_AUTOSTART 13001
|
||||
then
|
||||
sh /etc/init.d/13001_caipirinha_vtol
|
||||
fi
|
||||
|
||||
#
|
||||
# VTOL BirdsEyeView FireFly x6 (Tilt-Rotor)
|
||||
#
|
||||
if param compare SYS_AUTOSTART 13002
|
||||
then
|
||||
sh /etc/init.d/13002_firefly6
|
||||
fi
|
||||
|
||||
@@ -230,6 +230,7 @@ then
|
||||
tone_alarm $TUNE_ERR
|
||||
fi
|
||||
fi
|
||||
unset IO_FILE
|
||||
|
||||
if [ $IO_PRESENT == no ]
|
||||
then
|
||||
|
||||
@@ -287,11 +287,12 @@ class uploader(object):
|
||||
|
||||
#Draw progress bar (erase usually takes about 9 seconds to complete)
|
||||
estimatedTimeRemaining = deadline-time.time()
|
||||
if estimatedTimeRemaining > 0:
|
||||
if estimatedTimeRemaining >= 9.0:
|
||||
self.__drawProgressBar(20.0-estimatedTimeRemaining, 9.0)
|
||||
else:
|
||||
self.__drawProgressBar(10.0, 10.0)
|
||||
sys.stdout.write(" (timeout: %d seconds) " % int(time.time()-deadline) )
|
||||
sys.stdout.write(" (timeout: %d seconds) " % int(deadline-time.time()) )
|
||||
sys.stdout.flush()
|
||||
|
||||
if self.__trySync():
|
||||
self.__drawProgressBar(10.0, 10.0)
|
||||
|
||||
@@ -1,4 +1,5 @@
|
||||
uint8 NUM_ACTUATOR_CONTROLS = 8
|
||||
uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
|
||||
uint64 timestamp
|
||||
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
|
||||
float32[8] control
|
||||
|
||||
@@ -1,4 +1,5 @@
|
||||
uint8 NUM_ACTUATOR_CONTROLS = 8
|
||||
uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
|
||||
uint64 timestamp
|
||||
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
|
||||
float32[8] control
|
||||
|
||||
@@ -1,4 +1,5 @@
|
||||
uint8 NUM_ACTUATOR_CONTROLS = 8
|
||||
uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
|
||||
uint64 timestamp
|
||||
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
|
||||
float32[8] control
|
||||
|
||||
+122
-187
@@ -80,9 +80,6 @@
|
||||
* HMC5883 internal constants and data structures.
|
||||
*/
|
||||
|
||||
#define HMC5883L_DEVICE_PATH_INT "/dev/hmc5883_int"
|
||||
#define HMC5883L_DEVICE_PATH_EXT "/dev/hmc5883_ext"
|
||||
|
||||
/* Max measurement rate is 160Hz, however with 160 it will be set to 166 Hz, therefore workaround using 150 */
|
||||
#define HMC5883_CONVERSION_INTERVAL (1000000 / 150) /* microseconds */
|
||||
|
||||
@@ -114,9 +111,10 @@
|
||||
#define STATUS_REG_DATA_READY (1 << 0) /* page 16: set if all axes have valid measurements */
|
||||
|
||||
enum HMC5883_BUS {
|
||||
HMC5883_BUS_ALL,
|
||||
HMC5883_BUS_INTERNAL,
|
||||
HMC5883_BUS_EXTERNAL
|
||||
HMC5883_BUS_ALL = 0,
|
||||
HMC5883_BUS_I2C_INTERNAL,
|
||||
HMC5883_BUS_I2C_EXTERNAL,
|
||||
HMC5883_BUS_SPI
|
||||
};
|
||||
|
||||
/* oddly, ERROR is not defined for c++ */
|
||||
@@ -1297,17 +1295,70 @@ namespace hmc5883
|
||||
#endif
|
||||
const int ERROR = -1;
|
||||
|
||||
HMC5883 *g_dev_int = nullptr;
|
||||
HMC5883 *g_dev_ext = nullptr;
|
||||
/*
|
||||
list of supported bus configurations
|
||||
*/
|
||||
struct hmc5883_bus_option {
|
||||
enum HMC5883_BUS busid;
|
||||
const char *devpath;
|
||||
HMC5883_constructor interface_constructor;
|
||||
uint8_t busnum;
|
||||
HMC5883 *dev;
|
||||
} bus_options[] = {
|
||||
{ HMC5883_BUS_I2C_INTERNAL, "/dev/hmc5883_int", &HMC5883_I2C_interface, PX4_I2C_BUS_EXPANSION, NULL },
|
||||
#ifdef PX4_I2C_BUS_ONBOARD
|
||||
{ HMC5883_BUS_I2C_EXTERNAL, "/dev/hmc5883_ext", &HMC5883_I2C_interface, PX4_I2C_BUS_ONBOARD, NULL },
|
||||
#endif
|
||||
#ifdef PX4_SPIDEV_HMC
|
||||
{ HMC5883_BUS_SPI, "/dev/hmc5883_spi", &HMC5883_SPI_interface, PX4_SPI_BUS_SENSORS, NULL },
|
||||
#endif
|
||||
};
|
||||
#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
|
||||
|
||||
void start(int bus, enum Rotation rotation);
|
||||
void test(int bus);
|
||||
void reset(int bus);
|
||||
int info(int bus);
|
||||
int calibrate(int bus);
|
||||
const char* get_path(int bus);
|
||||
void start(enum HMC5883_BUS busid, enum Rotation rotation);
|
||||
bool start_bus(struct hmc5883_bus_option &bus, enum Rotation rotation);
|
||||
struct hmc5883_bus_option &find_bus(enum HMC5883_BUS busid);
|
||||
void test(enum HMC5883_BUS busid);
|
||||
void reset(enum HMC5883_BUS busid);
|
||||
int info(enum HMC5883_BUS busid);
|
||||
int calibrate(enum HMC5883_BUS busid);
|
||||
void usage();
|
||||
|
||||
/**
|
||||
* start driver for a specific bus option
|
||||
*/
|
||||
bool
|
||||
start_bus(struct hmc5883_bus_option &bus, enum Rotation rotation)
|
||||
{
|
||||
if (bus.dev != nullptr)
|
||||
errx(1,"bus option already started");
|
||||
|
||||
device::Device *interface = bus.interface_constructor(bus.busnum);
|
||||
if (interface->init() != OK) {
|
||||
delete interface;
|
||||
warnx("no device on bus %u", (unsigned)bus.busid);
|
||||
return false;
|
||||
}
|
||||
bus.dev = new HMC5883(interface, bus.devpath, rotation);
|
||||
if (bus.dev != nullptr && OK != bus.dev->init()) {
|
||||
delete bus.dev;
|
||||
bus.dev = NULL;
|
||||
return false;
|
||||
}
|
||||
|
||||
int fd = open(bus.devpath, O_RDONLY);
|
||||
if (fd < 0)
|
||||
return false;
|
||||
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
close(fd);
|
||||
errx(1,"Failed to setup poll rate");
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Start the driver.
|
||||
*
|
||||
@@ -1315,151 +1366,58 @@ void usage();
|
||||
* is either successfully up and running or failed to start.
|
||||
*/
|
||||
void
|
||||
start(int external_bus, enum Rotation rotation)
|
||||
start(enum HMC5883_BUS busid, enum Rotation rotation)
|
||||
{
|
||||
int fd;
|
||||
uint8_t i;
|
||||
bool started = false;
|
||||
|
||||
/* create the driver, attempt expansion bus first */
|
||||
if (g_dev_ext != nullptr) {
|
||||
warnx("already started external");
|
||||
} else if (external_bus == HMC5883_BUS_ALL || external_bus == HMC5883_BUS_EXTERNAL) {
|
||||
|
||||
device::Device *interface = nullptr;
|
||||
|
||||
/* create the driver, only attempt I2C for the external bus */
|
||||
if (interface == nullptr && (HMC5883_I2C_interface != nullptr)) {
|
||||
interface = HMC5883_I2C_interface(PX4_I2C_BUS_EXPANSION);
|
||||
|
||||
if (interface->init() != OK) {
|
||||
delete interface;
|
||||
interface = nullptr;
|
||||
warnx("no device on I2C bus #%u", PX4_I2C_BUS_EXPANSION);
|
||||
}
|
||||
for (i=0; i<NUM_BUS_OPTIONS; i++) {
|
||||
if (busid == HMC5883_BUS_ALL && bus_options[i].dev != NULL) {
|
||||
// this device is already started
|
||||
continue;
|
||||
}
|
||||
|
||||
#ifdef PX4_I2C_BUS_ONBOARD
|
||||
if (interface == nullptr && (HMC5883_I2C_interface != nullptr)) {
|
||||
interface = HMC5883_I2C_interface(PX4_I2C_BUS_ONBOARD);
|
||||
|
||||
if (interface->init() != OK) {
|
||||
delete interface;
|
||||
interface = nullptr;
|
||||
warnx("no device on I2C bus #%u", PX4_I2C_BUS_ONBOARD);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
/* interface will be null if init failed */
|
||||
if (interface != nullptr) {
|
||||
|
||||
g_dev_ext = new HMC5883(interface, HMC5883L_DEVICE_PATH_EXT, rotation);
|
||||
if (g_dev_ext != nullptr && OK != g_dev_ext->init()) {
|
||||
delete g_dev_ext;
|
||||
g_dev_ext = nullptr;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/* if this failed, attempt onboard sensor */
|
||||
if (g_dev_int != nullptr) {
|
||||
warnx("already started internal");
|
||||
} else if (external_bus == HMC5883_BUS_ALL || external_bus == HMC5883_BUS_INTERNAL) {
|
||||
|
||||
device::Device *interface = nullptr;
|
||||
|
||||
/* create the driver, try SPI first, fall back to I2C if unsuccessful */
|
||||
#ifdef PX4_SPIDEV_HMC
|
||||
if (HMC5883_SPI_interface != nullptr) {
|
||||
interface = HMC5883_SPI_interface(PX4_SPI_BUS_SENSORS);
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef PX4_I2C_BUS_ONBOARD
|
||||
/* this device is already connected as external if present above */
|
||||
if (interface == nullptr && (HMC5883_I2C_interface != nullptr)) {
|
||||
interface = HMC5883_I2C_interface(PX4_I2C_BUS_ONBOARD);
|
||||
}
|
||||
#endif
|
||||
if (interface == nullptr) {
|
||||
warnx("no internal bus scanned");
|
||||
goto fail;
|
||||
}
|
||||
|
||||
if (interface->init() != OK) {
|
||||
delete interface;
|
||||
warnx("no device on internal bus");
|
||||
} else {
|
||||
|
||||
g_dev_int = new HMC5883(interface, HMC5883L_DEVICE_PATH_INT, rotation);
|
||||
if (g_dev_int != nullptr && OK != g_dev_int->init()) {
|
||||
|
||||
/* tear down the failing onboard instance */
|
||||
delete g_dev_int;
|
||||
g_dev_int = nullptr;
|
||||
|
||||
if (external_bus == HMC5883_BUS_INTERNAL) {
|
||||
goto fail;
|
||||
}
|
||||
}
|
||||
if (g_dev_int == nullptr && external_bus == HMC5883_BUS_INTERNAL) {
|
||||
goto fail;
|
||||
}
|
||||
if (busid != HMC5883_BUS_ALL && bus_options[i].busid != busid) {
|
||||
// not the one that is asked for
|
||||
continue;
|
||||
}
|
||||
started |= start_bus(bus_options[i], rotation);
|
||||
}
|
||||
|
||||
if (g_dev_int == nullptr && g_dev_ext == nullptr)
|
||||
goto fail;
|
||||
|
||||
/* set the poll rate to default, starts automatic data collection */
|
||||
if (g_dev_int != nullptr) {
|
||||
fd = open(HMC5883L_DEVICE_PATH_INT, O_RDONLY);
|
||||
if (fd < 0)
|
||||
goto fail;
|
||||
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
|
||||
goto fail;
|
||||
close(fd);
|
||||
}
|
||||
|
||||
if (g_dev_ext != nullptr) {
|
||||
fd = open(HMC5883L_DEVICE_PATH_EXT, O_RDONLY);
|
||||
if (fd < 0)
|
||||
goto fail;
|
||||
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
|
||||
goto fail;
|
||||
close(fd);
|
||||
}
|
||||
if (!started)
|
||||
errx(1, "driver start failed");
|
||||
|
||||
// one or more drivers started OK
|
||||
exit(0);
|
||||
|
||||
fail:
|
||||
if (g_dev_int != nullptr && (external_bus == HMC5883_BUS_ALL || external_bus == HMC5883_BUS_INTERNAL)) {
|
||||
delete g_dev_int;
|
||||
g_dev_int = nullptr;
|
||||
}
|
||||
if (g_dev_ext != nullptr && (external_bus == HMC5883_BUS_ALL || external_bus == HMC5883_BUS_EXTERNAL)) {
|
||||
delete g_dev_ext;
|
||||
g_dev_ext = nullptr;
|
||||
}
|
||||
|
||||
errx(1, "driver start failed");
|
||||
}
|
||||
|
||||
/**
|
||||
* find a bus structure for a busid
|
||||
*/
|
||||
struct hmc5883_bus_option &find_bus(enum HMC5883_BUS busid)
|
||||
{
|
||||
for (uint8_t i=0; i<NUM_BUS_OPTIONS; i++) {
|
||||
if ((busid == HMC5883_BUS_ALL ||
|
||||
busid == bus_options[i].busid) && bus_options[i].dev != NULL) {
|
||||
return bus_options[i];
|
||||
}
|
||||
}
|
||||
errx(1,"bus %u not started", (unsigned)busid);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Perform some basic functional tests on the driver;
|
||||
* make sure we can collect data from the sensor in polled
|
||||
* and automatic modes.
|
||||
*/
|
||||
void
|
||||
test(int bus)
|
||||
test(enum HMC5883_BUS busid)
|
||||
{
|
||||
struct hmc5883_bus_option &bus = find_bus(busid);
|
||||
struct mag_report report;
|
||||
ssize_t sz;
|
||||
int ret;
|
||||
const char *path = get_path(bus);
|
||||
const char *path = bus.devpath;
|
||||
|
||||
int fd = open(path, O_RDONLY);
|
||||
|
||||
@@ -1557,10 +1515,11 @@ test(int bus)
|
||||
* configuration register A back to 00 (Normal Measurement Mode), e.g. 0x10.
|
||||
* Using the self test method described above, the user can scale sensor
|
||||
*/
|
||||
int calibrate(int bus)
|
||||
int calibrate(enum HMC5883_BUS busid)
|
||||
{
|
||||
int ret;
|
||||
const char *path = get_path(bus);
|
||||
struct hmc5883_bus_option &bus = find_bus(busid);
|
||||
const char *path = bus.devpath;
|
||||
|
||||
int fd = open(path, O_RDONLY);
|
||||
|
||||
@@ -1585,9 +1544,10 @@ int calibrate(int bus)
|
||||
* Reset the driver.
|
||||
*/
|
||||
void
|
||||
reset(int bus)
|
||||
reset(enum HMC5883_BUS busid)
|
||||
{
|
||||
const char *path = get_path(bus);
|
||||
struct hmc5883_bus_option &bus = find_bus(busid);
|
||||
const char *path = bus.devpath;
|
||||
|
||||
int fd = open(path, O_RDONLY);
|
||||
|
||||
@@ -1607,28 +1567,13 @@ reset(int bus)
|
||||
* Print a little info about the driver.
|
||||
*/
|
||||
int
|
||||
info(int bus)
|
||||
info(enum HMC5883_BUS busid)
|
||||
{
|
||||
int ret = 1;
|
||||
struct hmc5883_bus_option &bus = find_bus(busid);
|
||||
|
||||
HMC5883 *g_dev = (bus == HMC5883_BUS_INTERNAL ? g_dev_int : g_dev_ext);
|
||||
if (g_dev == nullptr) {
|
||||
warnx("not running on bus %d", bus);
|
||||
} else {
|
||||
|
||||
warnx("running on bus: %d (%s)\n", bus, ((HMC5883_BUS_INTERNAL) ? "onboard" : "offboard"));
|
||||
|
||||
g_dev->print_info();
|
||||
ret = 0;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
const char*
|
||||
get_path(int bus)
|
||||
{
|
||||
return ((bus == HMC5883_BUS_INTERNAL) ? HMC5883L_DEVICE_PATH_INT : HMC5883L_DEVICE_PATH_EXT);
|
||||
warnx("running on bus: %u (%s)\n", (unsigned)bus.busid, bus.devpath);
|
||||
bus.dev->print_info();
|
||||
exit(0);
|
||||
}
|
||||
|
||||
void
|
||||
@@ -1650,22 +1595,25 @@ int
|
||||
hmc5883_main(int argc, char *argv[])
|
||||
{
|
||||
int ch;
|
||||
int bus = HMC5883_BUS_ALL;
|
||||
enum HMC5883_BUS busid = HMC5883_BUS_ALL;
|
||||
enum Rotation rotation = ROTATION_NONE;
|
||||
bool calibrate = false;
|
||||
|
||||
while ((ch = getopt(argc, argv, "XIR:C")) != EOF) {
|
||||
while ((ch = getopt(argc, argv, "XISR:C")) != EOF) {
|
||||
switch (ch) {
|
||||
case 'R':
|
||||
rotation = (enum Rotation)atoi(optarg);
|
||||
break;
|
||||
#if (PX4_I2C_BUS_ONBOARD || PX4_SPIDEV_HMC)
|
||||
case 'I':
|
||||
bus = HMC5883_BUS_INTERNAL;
|
||||
busid = HMC5883_BUS_I2C_INTERNAL;
|
||||
break;
|
||||
#endif
|
||||
case 'X':
|
||||
bus = HMC5883_BUS_EXTERNAL;
|
||||
busid = HMC5883_BUS_I2C_EXTERNAL;
|
||||
break;
|
||||
case 'S':
|
||||
busid = HMC5883_BUS_SPI;
|
||||
break;
|
||||
case 'C':
|
||||
calibrate = true;
|
||||
@@ -1682,9 +1630,9 @@ hmc5883_main(int argc, char *argv[])
|
||||
* Start/load the driver.
|
||||
*/
|
||||
if (!strcmp(verb, "start")) {
|
||||
hmc5883::start(bus, rotation);
|
||||
hmc5883::start(busid, rotation);
|
||||
if (calibrate) {
|
||||
if (hmc5883::calibrate(bus) == 0) {
|
||||
if (hmc5883::calibrate(busid) == 0) {
|
||||
errx(0, "calibration successful");
|
||||
|
||||
} else {
|
||||
@@ -1697,38 +1645,25 @@ hmc5883_main(int argc, char *argv[])
|
||||
* Test the driver/device.
|
||||
*/
|
||||
if (!strcmp(verb, "test"))
|
||||
hmc5883::test(bus);
|
||||
hmc5883::test(busid);
|
||||
|
||||
/*
|
||||
* Reset the driver.
|
||||
*/
|
||||
if (!strcmp(verb, "reset"))
|
||||
hmc5883::reset(bus);
|
||||
hmc5883::reset(busid);
|
||||
|
||||
/*
|
||||
* Print driver information.
|
||||
*/
|
||||
if (!strcmp(verb, "info") || !strcmp(verb, "status")) {
|
||||
if (bus == HMC5883_BUS_ALL) {
|
||||
int ret = 0;
|
||||
if (hmc5883::info(HMC5883_BUS_INTERNAL)) {
|
||||
ret = 1;
|
||||
}
|
||||
|
||||
if (hmc5883::info(HMC5883_BUS_EXTERNAL)) {
|
||||
ret = 1;
|
||||
}
|
||||
exit(ret);
|
||||
} else {
|
||||
exit(hmc5883::info(bus));
|
||||
}
|
||||
}
|
||||
if (!strcmp(verb, "info") || !strcmp(verb, "status"))
|
||||
hmc5883::info(busid);
|
||||
|
||||
/*
|
||||
* Autocalibrate the scaling
|
||||
*/
|
||||
if (!strcmp(verb, "calibrate")) {
|
||||
if (hmc5883::calibrate(bus) == 0) {
|
||||
if (hmc5883::calibrate(busid) == 0) {
|
||||
errx(0, "calibration successful");
|
||||
|
||||
} else {
|
||||
|
||||
@@ -50,3 +50,4 @@
|
||||
/* interface factories */
|
||||
extern device::Device *HMC5883_SPI_interface(int bus) weak_function;
|
||||
extern device::Device *HMC5883_I2C_interface(int bus) weak_function;
|
||||
typedef device::Device* (*HMC5883_constructor)(int);
|
||||
|
||||
@@ -251,6 +251,8 @@ private:
|
||||
perf_counter_t _bad_registers;
|
||||
perf_counter_t _good_transfers;
|
||||
perf_counter_t _reset_retries;
|
||||
perf_counter_t _system_latency_perf;
|
||||
perf_counter_t _controller_latency_perf;
|
||||
|
||||
uint8_t _register_wait;
|
||||
uint64_t _reset_wait;
|
||||
@@ -491,6 +493,8 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev
|
||||
_bad_registers(perf_alloc(PC_COUNT, "mpu6000_bad_registers")),
|
||||
_good_transfers(perf_alloc(PC_COUNT, "mpu6000_good_transfers")),
|
||||
_reset_retries(perf_alloc(PC_COUNT, "mpu6000_reset_retries")),
|
||||
_system_latency_perf(perf_alloc_once(PC_ELAPSED, "sys_latency")),
|
||||
_controller_latency_perf(perf_alloc_once(PC_ELAPSED, "ctrl_latency")),
|
||||
_register_wait(0),
|
||||
_reset_wait(0),
|
||||
_accel_filter_x(MPU6000_ACCEL_DEFAULT_RATE, MPU6000_ACCEL_DEFAULT_DRIVER_FILTER_FREQ),
|
||||
@@ -1731,6 +1735,9 @@ MPU6000::measure()
|
||||
_gyro->parent_poll_notify();
|
||||
|
||||
if (!(_pub_blocked)) {
|
||||
/* log the time of this report */
|
||||
perf_begin(_controller_latency_perf);
|
||||
perf_begin(_system_latency_perf);
|
||||
/* publish it */
|
||||
orb_publish(_accel_orb_id, _accel_topic, &arb);
|
||||
}
|
||||
|
||||
@@ -260,9 +260,9 @@ private:
|
||||
|
||||
int _mavlink_fd; ///< mavlink file descriptor.
|
||||
|
||||
perf_counter_t _perf_update; ///<local performance counter for status updates
|
||||
perf_counter_t _perf_write; ///<local performance counter for PWM control writes
|
||||
perf_counter_t _perf_chan_count; ///<local performance counter for channel number changes
|
||||
perf_counter_t _perf_update; ///< local performance counter for status updates
|
||||
perf_counter_t _perf_write; ///< local performance counter for PWM control writes
|
||||
perf_counter_t _perf_sample_latency; ///< total system latency (based on passed-through timestamp)
|
||||
|
||||
/* cached IO state */
|
||||
uint16_t _status; ///< Various IO status flags
|
||||
@@ -493,7 +493,7 @@ PX4IO::PX4IO(device::Device *interface) :
|
||||
_mavlink_fd(-1),
|
||||
_perf_update(perf_alloc(PC_ELAPSED, "io update")),
|
||||
_perf_write(perf_alloc(PC_ELAPSED, "io write")),
|
||||
_perf_chan_count(perf_alloc(PC_COUNT, "io rc #")),
|
||||
_perf_sample_latency(perf_alloc(PC_ELAPSED, "io latency")),
|
||||
_status(0),
|
||||
_alarms(0),
|
||||
_t_actuator_controls_0(-1),
|
||||
@@ -551,7 +551,7 @@ PX4IO::~PX4IO()
|
||||
/* deallocate perfs */
|
||||
perf_free(_perf_update);
|
||||
perf_free(_perf_write);
|
||||
perf_free(_perf_chan_count);
|
||||
perf_free(_perf_sample_latency);
|
||||
|
||||
g_dev = nullptr;
|
||||
}
|
||||
@@ -1111,6 +1111,7 @@ PX4IO::io_set_control_state(unsigned group)
|
||||
|
||||
if (changed) {
|
||||
orb_copy(ORB_ID(actuator_controls_0), _t_actuator_controls_0, &controls);
|
||||
perf_set(_perf_sample_latency, hrt_elapsed_time(&controls.timestamp_sample));
|
||||
}
|
||||
}
|
||||
break;
|
||||
@@ -1570,11 +1571,6 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
|
||||
channel_count = RC_INPUT_MAX_CHANNELS;
|
||||
}
|
||||
|
||||
/* count channel count changes to identify signal integrity issues */
|
||||
if (channel_count != _rc_chan_count) {
|
||||
perf_count(_perf_chan_count);
|
||||
}
|
||||
|
||||
_rc_chan_count = channel_count;
|
||||
|
||||
input_rc.timestamp_publication = hrt_absolute_time();
|
||||
|
||||
@@ -42,4 +42,4 @@ SRCS = main.c \
|
||||
|
||||
MODULE_STACKSIZE = 1200
|
||||
|
||||
EXTRACFLAGS = -Wframe-larger-than=1200
|
||||
EXTRACFLAGS = -Wframe-larger-than=1300
|
||||
|
||||
+1
-1
Submodule src/lib/uavcan updated: 1efd244275...c4c45b995f
@@ -133,7 +133,7 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
|
||||
attitude_estimator_ekf_task = task_spawn_cmd("attitude_estimator_ekf",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 5,
|
||||
7200,
|
||||
7700,
|
||||
attitude_estimator_ekf_thread_main,
|
||||
(argv) ? (char * const *)&argv[2] : (char * const *)NULL);
|
||||
exit(0);
|
||||
|
||||
@@ -739,9 +739,6 @@ int commander_thread_main(int argc, char *argv[])
|
||||
param_t _param_ef_time_thres = param_find("COM_EF_TIME");
|
||||
param_t _param_autostart_id = param_find("SYS_AUTOSTART");
|
||||
|
||||
/* welcome user */
|
||||
warnx("starting");
|
||||
|
||||
const char *main_states_str[MAIN_STATE_MAX];
|
||||
main_states_str[MAIN_STATE_MANUAL] = "MANUAL";
|
||||
main_states_str[MAIN_STATE_ALTCTL] = "ALTCTL";
|
||||
@@ -1246,6 +1243,7 @@ int commander_thread_main(int argc, char *argv[])
|
||||
orb_check(safety_sub, &updated);
|
||||
|
||||
if (updated) {
|
||||
bool previous_safety_off = safety.safety_off;
|
||||
orb_copy(ORB_ID(safety), safety_sub, &safety);
|
||||
|
||||
/* disarm if safety is now on and still armed */
|
||||
@@ -1259,6 +1257,19 @@ int commander_thread_main(int argc, char *argv[])
|
||||
arming_state_changed = true;
|
||||
}
|
||||
}
|
||||
|
||||
//Notify the user if the status of the safety switch changes
|
||||
if(safety.safety_switch_available && previous_safety_off != safety.safety_off) {
|
||||
|
||||
if(safety.safety_off) {
|
||||
set_tune(TONE_NOTIFY_POSITIVE_TUNE);
|
||||
}
|
||||
else {
|
||||
tune_neutral(true);
|
||||
}
|
||||
|
||||
status_changed = true;
|
||||
}
|
||||
}
|
||||
|
||||
/* update vtol vehicle status*/
|
||||
@@ -1952,6 +1963,12 @@ int commander_thread_main(int argc, char *argv[])
|
||||
|
||||
/* reset arm_tune_played when disarmed */
|
||||
if (!armed.armed || (safety.safety_switch_available && !safety.safety_off)) {
|
||||
|
||||
//Notify the user that it is safe to approach the vehicle
|
||||
if(arm_tune_played) {
|
||||
tune_neutral(true);
|
||||
}
|
||||
|
||||
arm_tune_played = false;
|
||||
}
|
||||
|
||||
|
||||
@@ -280,6 +280,8 @@ bool StateMachineHelperTest::armingStateTransitionTest(void)
|
||||
status.arming_state = test->current_state.arming_state;
|
||||
status.condition_system_sensors_initialized = test->condition_system_sensors_initialized;
|
||||
status.hil_state = test->hil_state;
|
||||
// The power status of the test unit is not relevant for the unit test
|
||||
status.circuit_breaker_engaged_power_check = true;
|
||||
safety.safety_switch_available = test->safety_switch_available;
|
||||
safety.safety_off = test->safety_off;
|
||||
armed.armed = test->current_state.armed;
|
||||
|
||||
@@ -1061,7 +1061,9 @@ FixedwingAttitudeControl::task_main()
|
||||
|
||||
/* lazily publish the setpoint only once available */
|
||||
_actuators.timestamp = hrt_absolute_time();
|
||||
_actuators.timestamp_sample = _att.timestamp;
|
||||
_actuators_airframe.timestamp = hrt_absolute_time();
|
||||
_actuators_airframe.timestamp_sample = _att.timestamp;
|
||||
|
||||
/* publish the actuator controls */
|
||||
if (_actuators_0_pub > 0) {
|
||||
|
||||
@@ -1286,30 +1286,11 @@ Mavlink::task_main(int argc, char *argv[])
|
||||
}
|
||||
|
||||
if (Mavlink::instance_exists(_device_name, this)) {
|
||||
warnx("mavlink instance for %s already running", _device_name);
|
||||
warnx("%s already running", _device_name);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* inform about mode */
|
||||
switch (_mode) {
|
||||
case MAVLINK_MODE_NORMAL:
|
||||
warnx("mode: NORMAL");
|
||||
break;
|
||||
|
||||
case MAVLINK_MODE_CUSTOM:
|
||||
warnx("mode: CUSTOM");
|
||||
break;
|
||||
|
||||
case MAVLINK_MODE_ONBOARD:
|
||||
warnx("mode: ONBOARD");
|
||||
break;
|
||||
|
||||
default:
|
||||
warnx("ERROR: Unknown mode");
|
||||
break;
|
||||
}
|
||||
|
||||
warnx("data rate: %d Bytes/s, port: %s, baud: %d", _datarate, _device_name, _baudrate);
|
||||
warnx("mode: %u, data rate: %d B/s on %s @ %dB", _mode, _datarate, _device_name, _baudrate);
|
||||
|
||||
/* flush stdout in case MAVLink is about to take it over */
|
||||
fflush(stdout);
|
||||
@@ -1337,7 +1318,7 @@ Mavlink::task_main(int argc, char *argv[])
|
||||
* marker ring buffer approach.
|
||||
*/
|
||||
if (OK != message_buffer_init(2 * sizeof(mavlink_message_t) + 1)) {
|
||||
errx(1, "can't allocate message buffer, exiting");
|
||||
errx(1, "msg buf:");
|
||||
}
|
||||
|
||||
/* initialize message buffer mutex */
|
||||
@@ -1571,8 +1552,6 @@ Mavlink::task_main(int argc, char *argv[])
|
||||
|
||||
_subscriptions = nullptr;
|
||||
|
||||
warnx("waiting for UART receive thread");
|
||||
|
||||
/* wait for threads to complete */
|
||||
pthread_join(_receive_thread, NULL);
|
||||
|
||||
|
||||
@@ -120,13 +120,11 @@ MavlinkMissionManager::init_offboard_mission()
|
||||
_count = mission_state.count;
|
||||
_current_seq = mission_state.current_seq;
|
||||
|
||||
warnx("offboard mission init: dataman_id=%d, count=%u, current_seq=%d", _dataman_id, _count, _current_seq);
|
||||
|
||||
} else {
|
||||
_dataman_id = 0;
|
||||
_count = 0;
|
||||
_current_seq = 0;
|
||||
warnx("offboard mission init: ERROR, reading mission state failed");
|
||||
warnx("offboard mission init: ERROR");
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -141,6 +141,7 @@ private:
|
||||
struct vehicle_status_s _vehicle_status; /**< vehicle status */
|
||||
|
||||
perf_counter_t _loop_perf; /**< loop performance counter */
|
||||
perf_counter_t _controller_latency_perf;
|
||||
|
||||
math::Vector<3> _rates_prev; /**< angular rates on previous step */
|
||||
math::Vector<3> _rates_sp; /**< angular rates setpoint */
|
||||
@@ -289,7 +290,8 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
|
||||
_actuators_0_circuit_breaker_enabled(false),
|
||||
|
||||
/* performance counters */
|
||||
_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
|
||||
_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control")),
|
||||
_controller_latency_perf(perf_alloc_once(PC_ELAPSED, "ctrl_latency"))
|
||||
|
||||
{
|
||||
memset(&_v_att, 0, sizeof(_v_att));
|
||||
@@ -886,10 +888,12 @@ MulticopterAttitudeControl::task_main()
|
||||
_actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
|
||||
_actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
|
||||
_actuators.timestamp = hrt_absolute_time();
|
||||
_actuators.timestamp_sample = _v_att.timestamp;
|
||||
|
||||
if (!_actuators_0_circuit_breaker_enabled) {
|
||||
if (_actuators_0_pub > 0) {
|
||||
orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
|
||||
perf_end(_controller_latency_perf);
|
||||
|
||||
} else if (_actuators_id) {
|
||||
_actuators_0_pub = orb_advertise(_actuators_id, &_actuators);
|
||||
|
||||
+12
-11
@@ -199,6 +199,8 @@ static bool space_warning_sent = false;
|
||||
static pthread_t logwriter_pthread = 0;
|
||||
static pthread_attr_t logwriter_attr;
|
||||
|
||||
static perf_counter_t perf_write;
|
||||
|
||||
/**
|
||||
* Log buffer writing thread. Open and close file here.
|
||||
*/
|
||||
@@ -451,10 +453,10 @@ int open_log_file()
|
||||
int fd = open(log_file_path, O_CREAT | O_WRONLY | O_DSYNC);
|
||||
|
||||
if (fd < 0) {
|
||||
mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] failed opening log: %s", log_file_name);
|
||||
mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] failed opening: %s", log_file_name);
|
||||
|
||||
} else {
|
||||
mavlink_and_console_log_info(mavlink_fd, "[sdlog2] log file: %s", log_file_name);
|
||||
mavlink_and_console_log_info(mavlink_fd, "[sdlog2] starting: %s", log_file_name);
|
||||
}
|
||||
|
||||
return fd;
|
||||
@@ -515,8 +517,6 @@ static void *logwriter_thread(void *arg)
|
||||
/* set name */
|
||||
prctl(PR_SET_NAME, "sdlog2_writer", 0);
|
||||
|
||||
perf_counter_t perf_write = perf_alloc(PC_ELAPSED, "sd write");
|
||||
|
||||
int log_fd = open_log_file();
|
||||
|
||||
if (log_fd < 0) {
|
||||
@@ -620,16 +620,11 @@ static void *logwriter_thread(void *arg)
|
||||
fsync(log_fd);
|
||||
close(log_fd);
|
||||
|
||||
/* free performance counter */
|
||||
perf_free(perf_write);
|
||||
|
||||
return NULL;
|
||||
}
|
||||
|
||||
void sdlog2_start_log()
|
||||
{
|
||||
mavlink_and_console_log_info(mavlink_fd, "[sdlog2] start logging");
|
||||
|
||||
/* create log dir if needed */
|
||||
if (create_log_dir() != 0) {
|
||||
mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] error creating log dir");
|
||||
@@ -655,6 +650,9 @@ void sdlog2_start_log()
|
||||
|
||||
logwriter_should_exit = false;
|
||||
|
||||
/* allocate write performance counter */
|
||||
perf_write = perf_alloc(PC_ELAPSED, "sd write");
|
||||
|
||||
/* start log buffer emptying thread */
|
||||
if (0 != pthread_create(&logwriter_pthread, &logwriter_attr, logwriter_thread, &lb)) {
|
||||
errx(1, "error creating logwriter thread");
|
||||
@@ -674,8 +672,6 @@ void sdlog2_start_log()
|
||||
|
||||
void sdlog2_stop_log()
|
||||
{
|
||||
mavlink_and_console_log_info(mavlink_fd, "[sdlog2] stop logging");
|
||||
|
||||
logging_enabled = false;
|
||||
|
||||
/* wake up write thread one last time */
|
||||
@@ -701,6 +697,11 @@ void sdlog2_stop_log()
|
||||
perf_print_all(perf_fd);
|
||||
close(perf_fd);
|
||||
|
||||
/* free log writer performance counter */
|
||||
perf_free(perf_write);
|
||||
|
||||
mavlink_and_console_log_info(mavlink_fd, "[sdlog2] logging stopped");
|
||||
|
||||
sdlog2_status();
|
||||
}
|
||||
|
||||
|
||||
@@ -39,6 +39,7 @@
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <sys/queue.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <math.h>
|
||||
@@ -67,10 +68,13 @@ struct perf_ctr_count {
|
||||
struct perf_ctr_elapsed {
|
||||
struct perf_ctr_header hdr;
|
||||
uint64_t event_count;
|
||||
uint64_t event_overruns;
|
||||
uint64_t time_start;
|
||||
uint64_t time_total;
|
||||
uint64_t time_least;
|
||||
uint64_t time_most;
|
||||
float mean;
|
||||
float M2;
|
||||
};
|
||||
|
||||
/**
|
||||
@@ -126,6 +130,28 @@ perf_alloc(enum perf_counter_type type, const char *name)
|
||||
return ctr;
|
||||
}
|
||||
|
||||
perf_counter_t
|
||||
perf_alloc_once(enum perf_counter_type type, const char *name)
|
||||
{
|
||||
perf_counter_t handle = (perf_counter_t)sq_peek(&perf_counters);
|
||||
|
||||
while (handle != NULL) {
|
||||
if (!strcmp(handle->name, name)) {
|
||||
if (type == handle->type) {
|
||||
/* they are the same counter */
|
||||
return handle;
|
||||
} else {
|
||||
/* same name but different type, assuming this is an error and not intended */
|
||||
return NULL;
|
||||
}
|
||||
}
|
||||
handle = (perf_counter_t)sq_next(&handle->link);
|
||||
}
|
||||
|
||||
/* if the execution reaches here, no existing counter of that name was found */
|
||||
return perf_alloc(type, name);
|
||||
}
|
||||
|
||||
void
|
||||
perf_free(perf_counter_t handle)
|
||||
{
|
||||
@@ -213,17 +239,72 @@ perf_end(perf_counter_t handle)
|
||||
struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
|
||||
|
||||
if (pce->time_start != 0) {
|
||||
hrt_abstime elapsed = hrt_absolute_time() - pce->time_start;
|
||||
int64_t elapsed = hrt_absolute_time() - pce->time_start;
|
||||
|
||||
if (elapsed < 0) {
|
||||
pce->event_overruns++;
|
||||
} else {
|
||||
|
||||
pce->event_count++;
|
||||
pce->time_total += elapsed;
|
||||
|
||||
if ((pce->time_least > (uint64_t)elapsed) || (pce->time_least == 0))
|
||||
pce->time_least = elapsed;
|
||||
|
||||
if (pce->time_most < (uint64_t)elapsed)
|
||||
pce->time_most = elapsed;
|
||||
|
||||
// maintain mean and variance of the elapsed time in seconds
|
||||
// Knuth/Welford recursive mean and variance of update intervals (via Wikipedia)
|
||||
float dt = elapsed / 1e6f;
|
||||
float delta_intvl = dt - pce->mean;
|
||||
pce->mean += delta_intvl / pce->event_count;
|
||||
pce->M2 += delta_intvl * (dt - pce->mean);
|
||||
|
||||
pce->time_start = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
#include <systemlib/err.h>
|
||||
|
||||
void
|
||||
perf_set(perf_counter_t handle, int64_t elapsed)
|
||||
{
|
||||
if (handle == NULL) {
|
||||
return;
|
||||
}
|
||||
|
||||
switch (handle->type) {
|
||||
case PC_ELAPSED: {
|
||||
struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
|
||||
|
||||
if (elapsed < 0) {
|
||||
pce->event_overruns++;
|
||||
} else {
|
||||
|
||||
pce->event_count++;
|
||||
pce->time_total += elapsed;
|
||||
|
||||
if ((pce->time_least > elapsed) || (pce->time_least == 0))
|
||||
if ((pce->time_least > (uint64_t)elapsed) || (pce->time_least == 0))
|
||||
pce->time_least = elapsed;
|
||||
|
||||
if (pce->time_most < elapsed)
|
||||
if (pce->time_most < (uint64_t)elapsed)
|
||||
pce->time_most = elapsed;
|
||||
|
||||
// maintain mean and variance of the elapsed time in seconds
|
||||
// Knuth/Welford recursive mean and variance of update intervals (via Wikipedia)
|
||||
float dt = elapsed / 1e6f;
|
||||
float delta_intvl = dt - pce->mean;
|
||||
pce->mean += delta_intvl / pce->event_count;
|
||||
pce->M2 += delta_intvl * (dt - pce->mean);
|
||||
|
||||
pce->time_start = 0;
|
||||
}
|
||||
}
|
||||
@@ -310,14 +391,17 @@ perf_print_counter_fd(int fd, perf_counter_t handle)
|
||||
|
||||
case PC_ELAPSED: {
|
||||
struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
|
||||
float rms = sqrtf(pce->M2 / (pce->event_count-1));
|
||||
|
||||
dprintf(fd, "%s: %llu events, %lluus elapsed, %lluus avg, min %lluus max %lluus\n",
|
||||
handle->name,
|
||||
pce->event_count,
|
||||
pce->time_total,
|
||||
pce->time_total / pce->event_count,
|
||||
pce->time_least,
|
||||
pce->time_most);
|
||||
dprintf(fd, "%s: %llu events, %llu overruns, %lluus elapsed, %lluus avg, min %lluus max %lluus %5.3fus rms\n",
|
||||
handle->name,
|
||||
pce->event_count,
|
||||
pce->event_overruns,
|
||||
pce->time_total,
|
||||
pce->time_total / pce->event_count,
|
||||
pce->time_least,
|
||||
pce->time_most,
|
||||
(double)(1e6f * rms));
|
||||
break;
|
||||
}
|
||||
|
||||
@@ -325,14 +409,13 @@ perf_print_counter_fd(int fd, perf_counter_t handle)
|
||||
struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
|
||||
float rms = sqrtf(pci->M2 / (pci->event_count-1));
|
||||
|
||||
dprintf(fd, "%s: %llu events, %lluus avg, min %lluus max %lluus %5.3f msec mean %5.3f msec rms\n",
|
||||
handle->name,
|
||||
pci->event_count,
|
||||
(pci->time_last - pci->time_first) / pci->event_count,
|
||||
pci->time_least,
|
||||
pci->time_most,
|
||||
(double)(1000 * pci->mean),
|
||||
(double)(1000 * rms));
|
||||
dprintf(fd, "%s: %llu events, %lluus avg, min %lluus max %lluus %5.3fus rms\n",
|
||||
handle->name,
|
||||
pci->event_count,
|
||||
(pci->time_last - pci->time_first) / pci->event_count,
|
||||
pci->time_least,
|
||||
pci->time_most,
|
||||
(double)(1e6f * rms));
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
@@ -57,7 +57,7 @@ typedef struct perf_ctr_header *perf_counter_t;
|
||||
__BEGIN_DECLS
|
||||
|
||||
/**
|
||||
* Create a new counter.
|
||||
* Create a new local counter.
|
||||
*
|
||||
* @param type The type of the new counter.
|
||||
* @param name The counter name.
|
||||
@@ -66,6 +66,16 @@ __BEGIN_DECLS
|
||||
*/
|
||||
__EXPORT extern perf_counter_t perf_alloc(enum perf_counter_type type, const char *name);
|
||||
|
||||
/**
|
||||
* Get the reference to an existing counter or create a new one if it does not exist.
|
||||
*
|
||||
* @param type The type of the counter.
|
||||
* @param name The counter name.
|
||||
* @return Handle for the counter, or NULL if a counter
|
||||
* could not be allocated.
|
||||
*/
|
||||
__EXPORT extern perf_counter_t perf_alloc_once(enum perf_counter_type type, const char *name);
|
||||
|
||||
/**
|
||||
* Free a counter.
|
||||
*
|
||||
@@ -102,6 +112,18 @@ __EXPORT extern void perf_begin(perf_counter_t handle);
|
||||
*/
|
||||
__EXPORT extern void perf_end(perf_counter_t handle);
|
||||
|
||||
/**
|
||||
* Register a measurement
|
||||
*
|
||||
* This call applies to counters that operate over ranges of time; PC_ELAPSED etc.
|
||||
* If a call is made without a corresponding perf_begin call. It sets the
|
||||
* value provided as argument as a new measurement.
|
||||
*
|
||||
* @param handle The handle returned from perf_alloc.
|
||||
* @param elapsed The time elapsed. Negative values lead to incrementing the overrun counter.
|
||||
*/
|
||||
__EXPORT extern void perf_set(perf_counter_t handle, int64_t elapsed);
|
||||
|
||||
/**
|
||||
* Cancel a performance event.
|
||||
*
|
||||
|
||||
Reference in New Issue
Block a user